Graph Neural Networks (GNNs) experience catastrophic forgetting in continual learning setups, where they tend to lose previously acquired knowledge and perform poorly on old tasks. Rehearsal-based methods, which consolidate old knowledge with a replay memory buffer, are a de facto solution due to their straightforward workflow. However, these methods often fail to adequately capture topological information, leading to incorrect input-label mappings in replay samples. To address this, we propose TACO, a topology-aware graph coarsening and continual learning framework that stores information from previous tasks as a reduced graph. Throughout each learning period, this reduced graph expands by integrating with a new graph and aligning shared nodes, followed by a zoom-out reduction process to maintain a stable size. We have developed a graph coarsening algorithm based on node representation proximities to efficiently reduce a graph while preserving essential topological information. We empirically demonstrate that the learning process on the reduced graph can closely approximate that on the original graph. We compare TACO with a wide range of state-of-the-art baselines, proving its superiority and the necessity of preserving high-quality topological information for effective replaying.

Despite recent progress in reinforcement learning (RL) from raw pixel data, sample inefficiency continues to present a substantial obstacle. Prior works have attempted to address this challenge by creating self-supervised auxiliary tasks, aiming to enrich the agent's learned representations with control-relevant information for future state prediction.However, these objectives are often insufficient to learn representations that can represent the optimal policy or value function, and they often consider tasks with small, abstract discrete action spaces and thus overlook the importance of action representation learning in continuous control.In this paper, we introduce $\texttt{TACO}$: $\textbf{T}$emporal $\textbf{A}$ction-driven $\textbf{CO}$ntrastive Learning, a simple yet powerful temporal contrastive learning approach that facilitates the concurrent acquisition of latent state and action representations for agents.

Vision-Language-Action (VLA) models, trained via flow-matching or diffusion objectives, excel at learning complex behaviors from large-scale, multi-modal datasets (e.g., human teleoperation, scripted policies). However, since VLAs incorporate diverse data modes in the pre-training stage, and the finetuning dataset often contains demonstration data collected in a kinematically suboptimal or undesirable way, it exists redundant action modes that are irrelevant to the success action modes of the downstream task. Specifically, we observe a critical inference-time fragility among various sampled noises after supervised finetuning of pre-trained VLAs. In this paper, we attribute this instability to the distribution shift between the VLA policy and the policy induced by stable success modes of the downstream task dataset. Thus, we propose \textbf{TACO}, a test-time-scaling (TTS) framework that applies a lightweight pseudo-count estimator as a high-fidelity verifier of action chunks. The VLA models integrated with TACO can execute the actions with maximum pseudo-count from all sampled action chunks, thereby preventing distribution shifts while preserving the generalization ability of VLAs since the constraint is applied only during inference. Our method resembles the classical anti-exploration principle in offline reinforcement learning (RL), and being gradient-free, it incurs significant computational benefits compared to RL update, especially for flow or diffusion-based VLAs which are difficult to perform RL update due to denoising process. Extensive experiments across four simulation benchmarks (RoboTwin2.0, Robotwin, LIBERO, SimplerEnv) and a dual-arm platform demonstrate that our method significantly improves the inference stability and success rates in downstream-task adaptations.

Achieving consensus among noncooperative agents remains challenging in decentralized multi-agent systems, where agents often have conflicting preferences. Existing coordination methods enable agents to reach consensus without a centralized coordinator, but do not provide formal guarantees on system-level objectives such as efficiency or fairness. To address this limitation, we propose an iterative negotiation and oversight framework that augments a decentralized negotiation mechanism with taxation-like oversight. The framework builds upon the trading auction for consensus, enabling noncooperative agents with conflicting preferences to negotiate through asset trading while preserving valuation privacy. We introduce an oversight mechanism, which implements a taxation-like intervention that guides decentralized negotiation toward system-efficient and equitable outcomes while also regulating how fast the framework converges. We establish theoretical guarantees of finite-time termination and derive bounds linking system efficiency and convergence rate to the level of central intervention. A case study based on the collaborative trajectory options program, a rerouting initiative in U.S. air traffic management, demonstrates that the framework can reliably achieve consensus among noncooperative airspace sector managers, and reveals how the level of intervention regulates the relationship between system efficiency and convergence speed. Taken together, the theoretical and experimental results indicate that the proposed framework provides a general mechanism for decentralized coordination in noncooperative multi-agent systems while safeguarding system-level objectives.

Graph Neural Networks (GNNs) experience "catastrophic forgetting" in continual learning setups, where they tend to lose previously acquired knowledge and perform poorly on old tasks. Rehearsal-based methods, which consolidate old knowledge with a replay memory buffer, are a de facto solution due to their straightforward workflow. However, these methods often fail to adequately capture topological information, leading to incorrect input-label mappings in replay samples. To address this, we propose TACO, a topology-aware graph coarsening and continual learning framework that stores information from previous tasks as a reduced graph. Throughout each learning period, this reduced graph expands by integrating with a new graph and aligning shared nodes, followed by a "zoom-out" reduction process to maintain a stable size.

Noncooperative multi-agent systems often face coordination challenges due to conflicting preferences among agents. In particular, agents acting in their own self-interest can settle on different equilibria, leading to suboptimal outcomes or even safety concerns. We propose an algorithm named trading auction for consensus (TACo), a decentralized approach that enables noncooperative agents to reach consensus without communicating directly or disclosing private valuations. TACo facilitates coordination through a structured trading-based auction, where agents iteratively select choices of interest and provably reach an agreement within an a priori bounded number of steps. A series of numerical experiments validate that the termination guarantees of TACo hold in practice, and show that TACo achieves a median performance that minimizes the total cost across all agents, while allocating resources significantly more fairly than baseline approaches.

Despite recent progress in reinforcement learning (RL) from raw pixel data, sample inefficiency continues to present a substantial obstacle. Prior works have attempted to address this challenge by creating self-supervised auxiliary tasks, aiming to enrich the agent's learned representations with control-relevant information for future state prediction.However, these objectives are often insufficient to learn representations that can represent the optimal policy or value function, and they often consider tasks with small, abstract discrete action spaces and thus overlook the importance of action representation learning in continuous control.In this paper, we introduce \texttt{TACO}: \textbf{T} emporal \textbf{A} ction-driven \textbf{CO} ntrastive Learning, a simple yet powerful temporal contrastive learning approach that facilitates the concurrent acquisition of latent state and action representations for agents. Theoretically, \texttt{TACO} can be shown to learn state and action representations that encompass sufficient information for control, thereby improving sample efficiency.For online RL, \texttt{TACO} achieves 40% performance boost after one million environment interaction steps on average across nine challenging visual continuous control tasks from Deepmind Control Suite. In addition, we show that \texttt{TACO} can also serve as a plug-and-play module adding to existing offline visual RL methods to establish the new state-of-the-art performance for offline visual RL across offline datasets with varying quality.